技术领域Technical field
本发明提出一种仅需要系留升力翼多旋翼内置陀螺仪，不需要位置传感器或速度传感器的系留升力翼多旋翼回收控制方法。该方法可用于全球定位导航系统拒止环境下，系留升力翼多旋翼无人机在移动平台上的自动降落，属于飞行器控制领域。The present invention proposes a tethered lifting wing multi-rotor recovery control method that only requires a built-in gyroscope of the tethered lifting wing multi-rotor and does not require a position sensor or speed sensor. This method can be used for the automatic landing of a tethered lifting wing multi-rotor UAV on a mobile platform in a global positioning and navigation system denial environment, and belongs to the field of aircraft control.
背景技术Background technique
无人机技术在近年来得到了快速的发展，然而，针对应急照明、紧急通信等需要长时间留空的任务，常见的无人机难以胜任，需要系留无人机发挥作用。系留无人机是指通过系留绳将无人机与地面连接起来的系留无人系统，通过线缆，可以从地面向系留升力翼多旋翼供能，也可以用于数据传送，从而与地面通信，并实现长时间留空。Drone technology has developed rapidly in recent years. However, for tasks such as emergency lighting and emergency communications that require long periods of time in the air, common drones are not competent and tethered drones are required to play their role. Tethered UAV refers to a tethered unmanned aerial system that connects the UAV to the ground through a tethered rope. Through the cable, it can supply power to the tethered lifting wing multi-rotor from the ground, and can also be used for data transmission. Thereby communicating with the ground and enabling long periods of time in the air.
升力翼多旋翼是一种新的可垂直起降无人机，它结合了多旋翼无人机和固定翼无人机的特点和优势。升力翼多旋翼可以利用多旋翼结构垂直起降，维持姿态稳定，另一方面，它可以通过固定翼结构有效利用高空风能，同时提高飞行器的空中静稳定性。系留升力翼多旋翼是将升力翼多旋翼通过线缆与地面连接的系留无人系统，如图1所示。相比常见的系留无人机，系留升力翼多旋翼可以有效利用高空风能，从而降低能耗，同时，机翼结构可以有效提高其空中静稳定性。Lifting wing multi-rotor is a new vertical take-off and landing drone that combines the features and advantages of multi-rotor drones and fixed-wing drones. The lifting wing multi-rotor can use the multi-rotor structure to take off and land vertically to maintain a stable attitude. On the other hand, it can effectively utilize high-altitude wind energy through the fixed-wing structure while improving the aircraft's static stability in the air. The tethered lifting wing multi-rotor is a tethered unmanned system that connects the lifting wing multi-rotor to the ground through cables, as shown in Figure 1. Compared with common tethered drones, tethered lifting wing multi-rotors can effectively utilize high-altitude wind energy, thereby reducing energy consumption. At the same time, the wing structure can effectively improve its static stability in the air.
常规情况下，系留无人机在移动平台如车辆、舰船上降落需要利用全球定位导航系统或相机、红外靶标等其他传感器获取无人机相对移动平台降落区的位置。然而，在一些恶劣环境中，如全球定位导航系统拒止条件、大风环境导致无人机无法接近降落区、强雾及灰尘环境导致无人机无法识别降落区等，常规的定位方式无法使用，系留无人机则无法完成自动降落。Under normal circumstances, landing a tethered drone on a mobile platform such as a vehicle or ship requires the use of a global positioning navigation system or other sensors such as cameras and infrared targets to obtain the position of the drone relative to the landing area of the mobile platform. However, in some harsh environments, such as global positioning and navigation system rejection conditions, strong winds that prevent UAVs from approaching the landing area, strong fog and dust environments that prevent UAVs from identifying landing areas, etc., conventional positioning methods cannot be used. Tethered drones cannot complete automatic landing.
为了解决在无定位信息的情况下实现系留升力翼多旋翼在移动平台上的自动降落问题，本发明提出了一种不需要定位或速度信息，仅依靠内置陀螺仪，实现系留升力翼多旋翼在移动平台上的自动降落的控制方法。In order to solve the problem of realizing the automatic landing of a tethered lifting wing multi-rotor on a mobile platform without positioning information, the present invention proposes a method that does not require positioning or speed information and only relies on a built-in gyroscope to realize the automatic landing of a tethered lifting wing multi-rotor. Control method for automatic landing of a rotor on a moving platform.
发明内容Contents of the invention
本发明提出一种不依赖位置或速度传感器，仅依靠内置陀螺仪实现在移动平台上自动降落的系留升力翼多旋翼控制方法。首先，建立了系留升力翼多旋翼的动力学模型，随后，分别从高度方向和水平方向讨论了该控制方法的可行性。整体步骤如图6所示，详细步骤如下：The present invention proposes a tethered lifting wing multi-rotor control method that does not rely on position or speed sensors but only relies on built-in gyroscopes to achieve automatic landing on a mobile platform. First, the dynamic model of the tethered lifting wing multi-rotor was established. Then, the feasibility of the control method was discussed from the height direction and the horizontal direction respectively. The overall steps are shown in Figure 6, and the detailed steps are as follows:
步骤一：建立完整的系留升力翼多旋翼及卷线器动力学模型。系留升力翼多旋翼在空中受力包含有重力、气动力、系留绳拉力和旋翼推力等，因此可以得到动力学模型为：Step 1: Establish a complete dynamic model of the tethered lifting wing multi-rotor and reel. The forces on the tethered lifting wing multi-rotor in the air include gravity, aerodynamic force, tethering rope tension and rotor thrust, etc. Therefore, the dynamic model can be obtained as:
其中，ep为系留升力翼多旋翼的位置，ev为系留升力翼多旋翼的速度，m为系留升力翼多旋翼的质量，eTr为系留升力翼多旋翼在大地坐标系下所受的旋翼推力，eFc为系留升力翼多旋翼所受的系留绳拉力，g＝[0 0 g]T为重力加速度，eFa为系留升力翼多旋翼所受到的风力。Among them,e p is the position of the tethered lifting wing multi-rotor,e v is the speed of the tethered lifting wing multi-rotor, m is the mass of the tethered lifting wing multi-rotor,e Tr is the geodetic coordinates of the tethered lifting wing multi-rotor The thrust of the rotor under the tether,e Fc is the pulling force of the tethered rope on the tethered lift-wing multi-rotor, g=[0 0 g]T is the acceleration of gravity,e Fa is the pull on the tethered lift-wing multi-rotor. of wind.
卷线器的动力学模型可以表示为：The dynamic model of the reel can be expressed as:
其中，L为系留绳长度，vc为系留绳回收速度，Jw为卷线器的转动惯量，ωw为卷线器的旋转角速度，r为卷线器的半径，τw为卷线器扭转力矩，Fc为系留绳拉力。Among them, L is the length of the mooring rope, vc is the recovery speed of the mooring rope, Jw is the moment of inertia of the reel, ωw is the rotation angular speed of the reel, r is the radius of the reel, and τw is the winding speed. The torsion moment of the line device, Fc is the tension of the mooring rope.
步骤二：针对系留升力翼多旋翼，设计控制器。本发明所涉及的控制器，输出控制量为旋翼推力的三维矢量，最终通过底层控制分配，可以变为旋翼总推力控制量和姿态的期望控制量。整体的控制方案如图2所示。Step 2: Design a controller for the tethered lifting wing multi-rotor. The output control quantity of the controller involved in the present invention is a three-dimensional vector of the rotor thrust, which can eventually be converted into the desired control quantity of the total thrust control quantity and attitude of the rotor through the underlying control distribution. The overall control scheme is shown in Figure 2.
在高度方向上，本发明提出的控制方法受到风筝的启发。风筝在空中只受重力、气动力和绳拉力，其中，空气升力是大于重力的。这意味着风筝与倒立摆十分的相似，它在不受外界扰动的情况下可以自主回到高处的稳定平衡点。相关过程如图3a、图3b所示。In the height direction, the control method proposed by the present invention is inspired by kites. The kite is only affected by gravity, aerodynamic force and rope tension in the air. Among them, the lift of air is greater than gravity. This means that a kite is very similar to an inverted pendulum. It can return to a stable equilibrium point at a high altitude without being disturbed by the outside world. The relevant processes are shown in Figure 3a and Figure 3b.
在高度方向上，风筝受到的空气升力大于重力，因此会不断向最高点移动，系留绳也可以被主动拉直。在水平方向上，风筝受到风阻力的自然阻尼作用，从而使风筝平衡。In the height direction, the lift of the air received by the kite is greater than the gravity, so it will continue to move toward the highest point, and the mooring rope can also be actively straightened. In the horizontal direction, the kite is naturally damped by wind resistance, which balances the kite.
基于上述对风筝的思考，可以设计高度方向上的系留升力翼多旋翼控制器为：Based on the above considerations about kites, the tethered lifting wing multi-rotor controller in the height direction can be designed as:
Trz＝(1+∈)mg (3)Trz =(1+∈)mg (3)
其中，Trz为高度方向上的旋翼推力，ε为旋翼在高度方向所提供的的推力大于重力的量与重力的比例。Among them, Trz is the rotor thrust in the height direction, and ε is the ratio of the amount of thrust provided by the rotor in the height direction that is greater than the gravity and the gravity.
在水平方向上，系留升力翼多旋翼的控制量用于维持姿态平衡，这一部分由姿态控制器直接求解，得到Trx和Try。最终，系留升力翼多旋翼的控制量可以表述为：In the horizontal direction, the control quantity of the tethered lifting wing multi-rotor is used to maintain attitude balance. This part is directly solved by the attitude controller to obtain Trx and Try . Finally, the control quantity of the tethered lifting wing multi-rotor can be expressed as:
eTr＝[Trx Try Trz]T。e Tr = [Trx Try Trz ]T .
步骤三：设计线缆的回收控制器。本发明中，系留升力翼多旋翼仿照风筝，主动将线缆拉直，并处于稳定平衡点附近。此时，系留升力翼多旋翼相对于移动回收平台的位置，可以用线缆长度表示。因此，当线缆长度回收至0时，系留升力翼多旋翼即完成了在移动平台上的降落与回收。本发明最终希望线缆能够匀速回收，设计PID控制器如下：Step 3: Design the cable recovery controller. In the present invention, the tethered lifting wing multi-rotor imitates a kite, actively straightening the cables and keeping them near a stable equilibrium point. At this time, the position of the tethered lifting wing multi-rotor relative to the mobile recovery platform can be expressed by the length of the cable. Therefore, when the cable length is recovered to 0, the tethered lifting wing multi-rotor has completed landing and recovery on the mobile platform. The present invention ultimately hopes that cables can be recycled at a uniform speed, and the PID controller is designed as follows:
其中，kpω，kiω，kdω为反馈系数，ωwref为期望的卷线器回收速度。Among them, kpω , kiω , kdω are feedback coefficients, and ωwref is the desired reel recovery speed.
完成上述步骤后，可以通过RflySim工具链将系留升力翼多旋翼控制器通过代码自动生成方法下载到Pixhawk4开源飞控板中。卷线器期望被控制旋转角速度在Ubuntu18平台上设置，并在该平台上运行卷线器电机控制上位机，驱动卷线器，进行试验。卷线器电机采用宇树科技生产的GO-M8010-6电机。After completing the above steps, the tethered lifting wing multi-rotor controller can be downloaded to the Pixhawk4 open source flight control board through the automatic code generation method through the RflySim tool chain. The angular speed of rotation expected to be controlled by the reel is set on the Ubuntu18 platform, and the reel motor is run on the platform to control the host computer, drive the reel, and conduct experiments. The reel motor adopts GO-M8010-6 motor produced by Yushu Technology.
本发明的有益效果在于：The beneficial effects of the present invention are:
系留升力翼多旋翼在自动降落于移动平台的过程中不需要任何的位置或速度传感器，仅需要内置陀螺仪以维持姿态平衡。在恶劣的回收、降落环境，如全球定位导航系统拒止环境、大风环境、烟雾环境中，可以利用本发明所设计的控制方法，在系留线缆的拖拽下，实现系留升力翼多旋翼的自动降落。The tethered lifting wing multi-rotor does not require any position or speed sensors during the process of automatically landing on the mobile platform. It only needs a built-in gyroscope to maintain attitude balance. In harsh recovery and landing environments, such as global positioning and navigation system-rejected environments, strong wind environments, and smoke environments, the control method designed in the present invention can be used to realize multiple tethered lift wings under the drag of the tethered cable. Automatic landing of the rotor.
附图说明Description of the drawings
图1是系留升力翼多旋翼的示意图。Figure 1 is a schematic diagram of a tethered lifting wing multi-rotor.
图2是本发明所涉及到的，系留升力翼多旋翼系统的整体控制器结构。Figure 2 is the overall controller structure of the tethered lifting wing multi-rotor system involved in the present invention.
图3是对风筝和倒立摆能够自主回到稳定平衡点的特性描述。Figure 3 is a description of the characteristics of a kite and an inverted pendulum that can autonomously return to a stable equilibrium point.
图4是系留升力翼多旋翼利用该方法进行自动降落的仿真结果图。Figure 4 is a diagram of the simulation results of a tethered lifting wing multi-rotor using this method to automatically land.
图5是从侧面观测的系留升力翼多旋翼自动降落仿真效果。Figure 5 is the simulation effect of the automatic landing of a tethered lifting wing multi-rotor viewed from the side.
图6是本发明的整个实施步骤的实施流程。Figure 6 is an implementation flow of the entire implementation steps of the present invention.
具体实施方式Detailed ways
本发明设计了一种不需要位置或速度传感器，仅依靠内置陀螺仪，即可进行自动降落的系留升力翼多旋翼控制方法。仿真在搭载win10操作系统的主频3.20Ghz，内存32.00GB的计算机上进行，平台为采用了PX4PSP工具箱和Rflysim工具链的MATLAB R2022b版本。仿真成功后，利用RflySim工具链进行代码自动生成，即可进行实飞实验。The present invention designs a tethered lifting wing multi-rotor control method that does not require position or speed sensors and relies only on a built-in gyroscope to perform automatic landing. The simulation was carried out on a computer with a main frequency of 3.20Ghz and a memory of 32.00GB equipped with the win10 operating system. The platform was the MATLAB R2022b version using the PX4PSP toolbox and Rflysim tool chain. After the simulation is successful, use the RflySim tool chain to automatically generate code, and you can conduct actual flight experiments.
步骤一：测量系留升力翼多旋翼系统参数，建立系留升力翼多旋翼及卷线器的力学模型。Step 1: Measure the system parameters of the tethered lifting wing multi-rotor, and establish the mechanical model of the tethered lifting wing multi-rotor and the reel.
系留升力翼多旋翼的质量为1.2kg，升力翼相对于多旋翼的安装角为34°，机翼面积为0.09m2。在仿真过程中，假定移动平台的运动方向与风场是迎面相向的，系留升力翼多旋翼的机头方向与移动平台的运动方向同向，风速大小为2.8m/s，移动平台的移动速度为2m/s，仿真开始时系留升力翼多旋翼与移动平台在水平方向上位置误差为7m，升力翼多旋翼位于移动平台的正后方，回收初始高度为10m，线缆回收速度为1m/s，卷线器的半径为0.05m。The mass of the tethered lifting wing multi-rotor is 1.2kg, the installation angle of the lifting wing relative to the multi-rotor is 34°, and the wing area is 0.09m2 . During the simulation process, it is assumed that the movement direction of the mobile platform is facing the wind field, the head direction of the tethered lifting wing multi-rotor is in the same direction as the movement direction of the mobile platform, the wind speed is 2.8m/s, and the movement of the mobile platform The speed is 2m/s. At the beginning of the simulation, the position error between the tethered lifting wing multi-rotor and the mobile platform in the horizontal direction is 7m. The lifting wing multi-rotor is located directly behind the mobile platform. The initial recovery height is 10m, and the cable recovery speed is 1m. /s, the radius of the reel is 0.05m.
步骤二：针对系留升力翼多选翼设计控制器。根据步骤一中所设定的系留升力翼多旋翼参数，设置ε的大小为0.2，参考式(3)可以得到高度方向的期望控制量，与姿态控制器得到的水平方向旋翼推力量进行力分配，最终实现对系留升力翼多旋翼的控制。Step 2: Design a controller for the tethered lift wing multi-select wing. According to the tethered lift wing multi-rotor parameters set in step 1, set the size of ε to 0.2. The desired control amount in the height direction can be obtained by referring to Equation (3), which is compared with the horizontal direction rotor thrust obtained by the attitude controller. distribution, and finally realize the control of the tethered lifting wing multi-rotor.
步骤三：参考式(4)设计卷线器的控制器，选定kpω＝0.5，kiω＝0，kdω＝0.001。根据步骤一所设置的参数，可以得到期望的卷线器旋转角速率为ωwref＝20rad/s。Step 3: Design the controller of the reel with reference to equation (4), and select kpω =0.5, kiω =0, and kdω =0.001. According to the parameters set in step 1, the expected reel rotation angular rate can be obtained as ωwref =20rad/s.
根据以上步骤进行仿真，得到的仿真3维位置曲线如图4所示，从侧面的观测图像如图5所示。通过仿真发现，系留升力翼多旋翼在系留绳的拖拽下，能够顺利完成自动降落，且整个过程中不需要位置或速度传感器，而仅需要内置陀螺仪维持姿态平衡。The simulation is performed according to the above steps, and the simulated 3-dimensional position curve obtained is shown in Figure 4, and the observation image from the side is shown in Figure 5. Through simulation, it was found that the tethered lifting wing multi-rotor can successfully complete automatic landing under the drag of the tether rope, and does not require position or speed sensors during the entire process, but only needs a built-in gyroscope to maintain attitude balance.
| Application Number | Priority Date | Filing Date | Title |
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| CN202311478748.8ACN117706906A (en) | 2023-11-08 | 2023-11-08 | Tethered lift wing multi-rotor recovery method without depending on position or speed sensor |
| Application Number | Priority Date | Filing Date | Title |
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| CN202311478748.8ACN117706906A (en) | 2023-11-08 | 2023-11-08 | Tethered lift wing multi-rotor recovery method without depending on position or speed sensor |
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| CN117706906Atrue CN117706906A (en) | 2024-03-15 |
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| CN202311478748.8APendingCN117706906A (en) | 2023-11-08 | 2023-11-08 | Tethered lift wing multi-rotor recovery method without depending on position or speed sensor |
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